<!DOCTYPE html><html><head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1"><style>body {
  max-width: 980px;
  border: 1px solid #ddd;
  outline: 1300px solid #fff;
  margin: 16px auto;
}

body .markdown-body
{
  padding: 45px;
}

@font-face {
  font-family: fontawesome-mini;
  src: url(data:font/woff;charset=utf-8;base64,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) format('woff');
}

.markdown-body {
  font-family: sans-serif;
  -ms-text-size-adjust: 100%;
  -webkit-text-size-adjust: 100%;
  color: #333333;
  overflow: hidden;
  font-family: "Helvetica Neue", Helvetica, "Segoe UI", Arial, freesans, sans-serif;
  font-size: 16px;
  line-height: 1.6;
  word-wrap: break-word;
}

.markdown-body a {
  background: transparent;
}

.markdown-body a:active,
.markdown-body a:hover {
  outline: 0;
}

.markdown-body b,
.markdown-body strong {
  font-weight: bold;
}

.markdown-body mark {
  background: #ff0;
  color: #000;
  font-style: italic;
  font-weight: bold;
}

.markdown-body sub,
.markdown-body sup {
  font-size: 75%;
  line-height: 0;
  position: relative;
  vertical-align: baseline;
}
.markdown-body sup {
  top: -0.5em;
}
.markdown-body sub {
  bottom: -0.25em;
}

.markdown-body h1 {
  font-size: 2em;
  margin: 0.67em 0;
}

.markdown-body img {
  border: 0;
}

.markdown-body hr {
  -moz-box-sizing: content-box;
  box-sizing: content-box;
  height: 0;
}

.markdown-body pre {
  overflow: auto;
}

.markdown-body code,
.markdown-body kbd,
.markdown-body pre,
.markdown-body samp {
  font-family: monospace, monospace;
  font-size: 1em;
}

.markdown-body input {
  color: inherit;
  font: inherit;
  margin: 0;
}

.markdown-body html input[disabled] {
  cursor: default;
}

.markdown-body input {
  line-height: normal;
}

.markdown-body input[type="checkbox"] {
  box-sizing: border-box;
  padding: 0;
}

.markdown-body table {
  border-collapse: collapse;
  border-spacing: 0;
}

.markdown-body td,
.markdown-body th {
  padding: 0;
}

.markdown-body .codehilitetable {
  border: 0;
  border-spacing: 0;
}

.markdown-body .codehilitetable tr {
  border: 0;
}

.markdown-body .codehilitetable pre,
.markdown-body .codehilitetable div.codehilite {
  margin: 0;
}

.markdown-body .linenos,
.markdown-body .code,
.markdown-body .codehilitetable td {
  border: 0;
  padding: 0;
}

.markdown-body td:not(.linenos) .linenodiv {
  padding: 0 !important;
}

.markdown-body .code {
  width: 100%;
}

.markdown-body .linenos div pre,
.markdown-body .linenodiv pre,
.markdown-body .linenodiv {
  border: 0;
  -webkit-border-radius: 0;
  -moz-border-radius: 0;
  border-radius: 0;
  -webkit-border-top-left-radius: 3px;
  -webkit-border-bottom-left-radius: 3px;
  -moz-border-radius-topleft: 3px;
  -moz-border-radius-bottomleft: 3px;
  border-top-left-radius: 3px;
  border-bottom-left-radius: 3px;
}

.markdown-body .code div pre,
.markdown-body .code div {
  border: 0;
  -webkit-border-radius: 0;
  -moz-border-radius: 0;
  border-radius: 0;
  -webkit-border-top-right-radius: 3px;
  -webkit-border-bottom-right-radius: 3px;
  -moz-border-radius-topright: 3px;
  -moz-border-radius-bottomright: 3px;
  border-top-right-radius: 3px;
  border-bottom-right-radius: 3px;
}

.markdown-body * {
  -moz-box-sizing: border-box;
  box-sizing: border-box;
}

.markdown-body input {
  font: 13px Helvetica, arial, freesans, clean, sans-serif, "Segoe UI Emoji", "Segoe UI Symbol";
  line-height: 1.4;
}

.markdown-body a {
  color: #4183c4;
  text-decoration: none;
}

.markdown-body a:hover,
.markdown-body a:focus,
.markdown-body a:active {
  text-decoration: underline;
}

.markdown-body hr {
  height: 0;
  margin: 15px 0;
  overflow: hidden;
  background: transparent;
  border: 0;
  border-bottom: 1px solid #ddd;
}

.markdown-body hr:before,
.markdown-body hr:after {
  display: table;
  content: " ";
}

.markdown-body hr:after {
  clear: both;
}

.markdown-body h1,
.markdown-body h2,
.markdown-body h3,
.markdown-body h4,
.markdown-body h5,
.markdown-body h6 {
  margin-top: 15px;
  margin-bottom: 15px;
  line-height: 1.1;
}

.markdown-body h1 {
  font-size: 30px;
}

.markdown-body h2 {
  font-size: 21px;
}

.markdown-body h3 {
  font-size: 16px;
}

.markdown-body h4 {
  font-size: 14px;
}

.markdown-body h5 {
  font-size: 12px;
}

.markdown-body h6 {
  font-size: 11px;
}

.markdown-body blockquote {
  margin: 0;
}

.markdown-body ul,
.markdown-body ol {
  padding: 0;
  margin-top: 0;
  margin-bottom: 0;
}

.markdown-body ol ol,
.markdown-body ul ol {
  list-style-type: lower-roman;
}

.markdown-body ul ul ol,
.markdown-body ul ol ol,
.markdown-body ol ul ol,
.markdown-body ol ol ol {
  list-style-type: lower-alpha;
}

.markdown-body dd {
  margin-left: 0;
}

.markdown-body code,
.markdown-body pre,
.markdown-body samp {
  font-family: Consolas, "Liberation Mono", Menlo, Courier, monospace;
  font-size: 12px;
}

.markdown-body pre {
  margin-top: 0;
  margin-bottom: 0;
}

.markdown-body kbd {
  background-color: #e7e7e7;
  background-image: -moz-linear-gradient(#fefefe, #e7e7e7);
  background-image: -webkit-linear-gradient(#fefefe, #e7e7e7);
  background-image: linear-gradient(#fefefe, #e7e7e7);
  background-repeat: repeat-x;
  border-radius: 2px;
  border: 1px solid #cfcfcf;
  color: #000;
  padding: 3px 5px;
  line-height: 10px;
  font: 11px Consolas, "Liberation Mono", Menlo, Courier, monospace;
  display: inline-block;
}

.markdown-body>*:first-child {
  margin-top: 0 !important;
}

.markdown-body>*:last-child {
  margin-bottom: 0 !important;
}

.markdown-body .headerlink {
  font: normal 400 16px fontawesome-mini;
  vertical-align: middle;
  margin-left: -16px;
  float: left;
  display: inline-block;
  text-decoration: none;
  opacity: 0;
  color: #333;
}

.markdown-body .headerlink:focus {
  outline: none;
}

.markdown-body h1 .headerlink {
  margin-top: 0.8rem;
}

.markdown-body h2 .headerlink,
.markdown-body h3 .headerlink {
  margin-top: 0.6rem;
}

.markdown-body h4 .headerlink {
  margin-top: 0.2rem;
}

.markdown-body h5 .headerlink,
.markdown-body h6 .headerlink {
  margin-top: 0;
}

.markdown-body .headerlink:hover,
.markdown-body h1:hover .headerlink,
.markdown-body h2:hover .headerlink,
.markdown-body h3:hover .headerlink,
.markdown-body h4:hover .headerlink,
.markdown-body h5:hover .headerlink,
.markdown-body h6:hover .headerlink {
  opacity: 1;
  text-decoration: none;
}

.markdown-body h1 {
  padding-bottom: 0.3em;
  font-size: 2.25em;
  line-height: 1.2;
  border-bottom: 1px solid #eee;
}

.markdown-body h2 {
  padding-bottom: 0.3em;
  font-size: 1.75em;
  line-height: 1.225;
  border-bottom: 1px solid #eee;
}

.markdown-body h3 {
  font-size: 1.5em;
  line-height: 1.43;
}

.markdown-body h4 {
  font-size: 1.25em;
}

.markdown-body h5 {
  font-size: 1em;
}

.markdown-body h6 {
  font-size: 1em;
  color: #777;
}

.markdown-body p,
.markdown-body blockquote,
.markdown-body ul,
.markdown-body ol,
.markdown-body dl,
.markdown-body table,
.markdown-body pre,
.markdown-body .admonition {
  margin-top: 0;
  margin-bottom: 16px;
}

.markdown-body hr {
  height: 4px;
  padding: 0;
  margin: 16px 0;
  background-color: #e7e7e7;
  border: 0 none;
}

.markdown-body ul,
.markdown-body ol {
  padding-left: 2em;
}

.markdown-body ul ul,
.markdown-body ul ol,
.markdown-body ol ol,
.markdown-body ol ul {
  margin-top: 0;
  margin-bottom: 0;
}

.markdown-body li>p {
  margin-top: 16px;
}

.markdown-body dl {
  padding: 0;
}

.markdown-body dl dt {
  padding: 0;
  margin-top: 16px;
  font-size: 1em;
  font-style: italic;
  font-weight: bold;
}

.markdown-body dl dd {
  padding: 0 16px;
  margin-bottom: 16px;
}

.markdown-body blockquote {
  padding: 0 15px;
  color: #777;
  border-left: 4px solid #ddd;
}

.markdown-body blockquote>:first-child {
  margin-top: 0;
}

.markdown-body blockquote>:last-child {
  margin-bottom: 0;
}

.markdown-body table {
  display: block;
  width: 100%;
  overflow: auto;
  word-break: normal;
  word-break: keep-all;
}

.markdown-body table th {
  font-weight: bold;
}

.markdown-body table th,
.markdown-body table td {
  padding: 6px 13px;
  border: 1px solid #ddd;
}

.markdown-body table tr {
  background-color: #fff;
  border-top: 1px solid #ccc;
}

.markdown-body table tr:nth-child(2n) {
  background-color: #f8f8f8;
}

.markdown-body img {
  max-width: 100%;
  -moz-box-sizing: border-box;
  box-sizing: border-box;
}

.markdown-body code,
.markdown-body samp {
  padding: 0;
  padding-top: 0.2em;
  padding-bottom: 0.2em;
  margin: 0;
  font-size: 85%;
  background-color: rgba(0,0,0,0.04);
  border-radius: 3px;
}

.markdown-body code:before,
.markdown-body code:after {
  letter-spacing: -0.2em;
  content: "\00a0";
}

.markdown-body pre>code {
  padding: 0;
  margin: 0;
  font-size: 100%;
  word-break: normal;
  white-space: pre;
  background: transparent;
  border: 0;
}

.markdown-body .codehilite {
  margin-bottom: 16px;
}

.markdown-body .codehilite pre,
.markdown-body pre {
  padding: 16px;
  overflow: auto;
  font-size: 85%;
  line-height: 1.45;
  background-color: #f7f7f7;
  border-radius: 3px;
}

.markdown-body .codehilite pre {
  margin-bottom: 0;
  word-break: normal;
}

.markdown-body pre {
  word-wrap: normal;
}

.markdown-body pre code {
  display: inline;
  max-width: initial;
  padding: 0;
  margin: 0;
  overflow: initial;
  line-height: inherit;
  word-wrap: normal;
  background-color: transparent;
  border: 0;
}

.markdown-body pre code:before,
.markdown-body pre code:after {
  content: normal;
}

/* Admonition */
.markdown-body .admonition {
  -webkit-border-radius: 3px;
  -moz-border-radius: 3px;
  position: relative;
  border-radius: 3px;
  border: 1px solid #e0e0e0;
  border-left: 6px solid #333;
  padding: 10px 10px 10px 30px;
}

.markdown-body .admonition table {
  color: #333;
}

.markdown-body .admonition p {
  padding: 0;
}

.markdown-body .admonition-title {
  font-weight: bold;
  margin: 0;
}

.markdown-body .admonition>.admonition-title {
  color: #333;
}

.markdown-body .attention>.admonition-title {
  color: #a6d796;
}

.markdown-body .caution>.admonition-title {
  color: #d7a796;
}

.markdown-body .hint>.admonition-title {
  color: #96c6d7;
}

.markdown-body .danger>.admonition-title {
  color: #c25f77;
}

.markdown-body .question>.admonition-title {
  color: #96a6d7;
}

.markdown-body .note>.admonition-title {
  color: #d7c896;
}

.markdown-body .admonition:before,
.markdown-body .attention:before,
.markdown-body .caution:before,
.markdown-body .hint:before,
.markdown-body .danger:before,
.markdown-body .question:before,
.markdown-body .note:before {
  font: normal normal 16px fontawesome-mini;
  -moz-osx-font-smoothing: grayscale;
  -webkit-user-select: none;
  -moz-user-select: none;
  -ms-user-select: none;
  user-select: none;
  line-height: 1.5;
  color: #333;
  position: absolute;
  left: 0;
  top: 0;
  padding-top: 10px;
  padding-left: 10px;
}

.markdown-body .admonition:before {
  content: "\f056\00a0";
  color: 333;
}

.markdown-body .attention:before {
  content: "\f058\00a0";
  color: #a6d796;
}

.markdown-body .caution:before {
  content: "\f06a\00a0";
  color: #d7a796;
}

.markdown-body .hint:before {
  content: "\f05a\00a0";
  color: #96c6d7;
}

.markdown-body .danger:before {
  content: "\f057\00a0";
  color: #c25f77;
}

.markdown-body .question:before {
  content: "\f059\00a0";
  color: #96a6d7;
}

.markdown-body .note:before {
  content: "\f040\00a0";
  color: #d7c896;
}

.markdown-body .admonition::after {
  content: normal;
}

.markdown-body .attention {
  border-left: 6px solid #a6d796;
}

.markdown-body .caution {
  border-left: 6px solid #d7a796;
}

.markdown-body .hint {
  border-left: 6px solid #96c6d7;
}

.markdown-body .danger {
  border-left: 6px solid #c25f77;
}

.markdown-body .question {
  border-left: 6px solid #96a6d7;
}

.markdown-body .note {
  border-left: 6px solid #d7c896;
}

.markdown-body .admonition>*:first-child {
  margin-top: 0 !important;
}

.markdown-body .admonition>*:last-child {
  margin-bottom: 0 !important;
}

/* progress bar*/
.markdown-body .progress {
  display: block;
  width: 300px;
  margin: 10px 0;
  height: 24px;
  -webkit-border-radius: 3px;
  -moz-border-radius: 3px;
  border-radius: 3px;
  background-color: #ededed;
  position: relative;
  box-shadow: inset -1px 1px 3px rgba(0, 0, 0, .1);
}

.markdown-body .progress-label {
  position: absolute;
  text-align: center;
  font-weight: bold;
  width: 100%; margin: 0;
  line-height: 24px;
  color: #333;
  text-shadow: 1px 1px 0 #fefefe, -1px -1px 0 #fefefe, -1px 1px 0 #fefefe, 1px -1px 0 #fefefe, 0 1px 0 #fefefe, 0 -1px 0 #fefefe, 1px 0 0 #fefefe, -1px 0 0 #fefefe, 1px 1px 2px #000;
  -webkit-font-smoothing: antialiased !important;
  white-space: nowrap;
  overflow: hidden;
}

.markdown-body .progress-bar {
  height: 24px;
  float: left;
  -webkit-border-radius: 3px;
  -moz-border-radius: 3px;
  border-radius: 3px;
  background-color: #96c6d7;
  box-shadow: inset 0 1px 0 rgba(255, 255, 255, .5), inset 0 -1px 0 rgba(0, 0, 0, .1);
  background-size: 30px 30px;
  background-image: -webkit-linear-gradient(
    135deg, rgba(255, 255, 255, .4) 27%,
    transparent 27%,
    transparent 52%, rgba(255, 255, 255, .4) 52%,
    rgba(255, 255, 255, .4) 77%,
    transparent 77%, transparent
  );
  background-image: -moz-linear-gradient(
    135deg,
    rgba(255, 255, 255, .4) 27%, transparent 27%,
    transparent 52%, rgba(255, 255, 255, .4) 52%,
    rgba(255, 255, 255, .4) 77%, transparent 77%,
    transparent
  );
  background-image: -ms-linear-gradient(
    135deg,
    rgba(255, 255, 255, .4) 27%, transparent 27%,
    transparent 52%, rgba(255, 255, 255, .4) 52%,
    rgba(255, 255, 255, .4) 77%, transparent 77%,
    transparent
  );
  background-image: -o-linear-gradient(
    135deg,
    rgba(255, 255, 255, .4) 27%, transparent 27%,
    transparent 52%, rgba(255, 255, 255, .4) 52%,
    rgba(255, 255, 255, .4) 77%, transparent 77%,
    transparent
  );
  background-image: linear-gradient(
    135deg,
    rgba(255, 255, 255, .4) 27%, transparent 27%,
    transparent 52%, rgba(255, 255, 255, .4) 52%,
    rgba(255, 255, 255, .4) 77%, transparent 77%,
    transparent
  );
}

.markdown-body .progress-100plus .progress-bar {
  background-color: #a6d796;
}

.markdown-body .progress-80plus .progress-bar {
  background-color: #c6d796;
}

.markdown-body .progress-60plus .progress-bar {
  background-color: #d7c896;
}

.markdown-body .progress-40plus .progress-bar {
  background-color: #d7a796;
}

.markdown-body .progress-20plus .progress-bar {
  background-color: #d796a6;
}

.markdown-body .progress-0plus .progress-bar {
  background-color: #c25f77;
}

.markdown-body .candystripe-animate .progress-bar{
  -webkit-animation: animate-stripes 3s linear infinite;
  -moz-animation: animate-stripes 3s linear infinite;
  animation: animate-stripes 3s linear infinite;
}

@-webkit-keyframes animate-stripes {
  0% {
    background-position: 0 0;
  }

  100% {
    background-position: 60px 0;
  }
}

@-moz-keyframes animate-stripes {
  0% {
    background-position: 0 0;
  }

  100% {
    background-position: 60px 0;
  }
}

@keyframes animate-stripes {
  0% {
    background-position: 0 0;
  }

  100% {
    background-position: 60px 0;
  }
}

.markdown-body .gloss .progress-bar {
  box-shadow:
    inset 0 4px 12px rgba(255, 255, 255, .7),
    inset 0 -12px 0 rgba(0, 0, 0, .05);
}

/* MultiMarkdown Critic Blocks */
.markdown-body .critic_mark {
  background: #ff0;
}

.markdown-body .critic_delete {
  color: #c82829;
  text-decoration: line-through;
}

.markdown-body .critic_insert {
  color: #718c00 ;
  text-decoration: underline;
}

.markdown-body .critic_comment {
  color: #8e908c;
  font-style: italic;
}

.markdown-body .headeranchor {
  font: normal normal 16px fontawesome-mini;
  line-height: 1;
  display: inline-block;
  text-decoration: none;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  -webkit-user-select: none;
  -moz-user-select: none;
  -ms-user-select: none;
  user-select: none;
}

.headeranchor:before {
  content: '\e157';
}

.markdown-body .task-list-item {
  list-style-type: none;
}

.markdown-body .task-list-item+.task-list-item {
  margin-top: 3px;
}

.markdown-body .task-list-item input {
  margin: 0 4px 0.25em -20px;
  vertical-align: middle;
}

/* Media */
@media only screen and (min-width: 480px) {
  .markdown-body {
    font-size:14px;
  }
}

@media only screen and (min-width: 768px) {
  .markdown-body {
    font-size:16px;
  }
}

@media print {
  .markdown-body * {
    background: transparent !important;
    color: black !important;
    filter:none !important;
    -ms-filter: none !important;
  }

  .markdown-body {
    font-size:12pt;
    max-width:100%;
    outline:none;
    border: 0;
  }

  .markdown-body a,
  .markdown-body a:visited {
    text-decoration: underline;
  }

  .markdown-body .headeranchor-link {
    display: none;
  }

  .markdown-body a[href]:after {
    content: " (" attr(href) ")";
  }

  .markdown-body abbr[title]:after {
    content: " (" attr(title) ")";
  }

  .markdown-body .ir a:after,
  .markdown-body a[href^="javascript:"]:after,
  .markdown-body a[href^="#"]:after {
    content: "";
  }

  .markdown-body pre {
    white-space: pre;
    white-space: pre-wrap;
    word-wrap: break-word;
  }

  .markdown-body pre,
  .markdown-body blockquote {
    border: 1px solid #999;
    padding-right: 1em;
    page-break-inside: avoid;
  }

  .markdown-body .progress,
  .markdown-body .progress-bar {
    -moz-box-shadow: none;
    -webkit-box-shadow: none;
    box-shadow: none;
  }

  .markdown-body .progress {
    border: 1px solid #ddd;
  }

  .markdown-body .progress-bar {
    height: 22px;
    border-right: 1px solid #ddd;
  }

  .markdown-body tr,
  .markdown-body img {
    page-break-inside: avoid;
  }

  .markdown-body img {
    max-width: 100% !important;
  }

  .markdown-body p,
  .markdown-body h2,
  .markdown-body h3 {
    orphans: 3;
    widows: 3;
  }

  .markdown-body h2,
  .markdown-body h3 {
    page-break-after: avoid;
  }
}
</style><style>/*GitHub*/
.codehilite {background-color:#fff;color:#333333;}
.codehilite .hll {background-color:#ffffcc;}
.codehilite .c{color:#999988;font-style:italic}
.codehilite .err{color:#a61717;background-color:#e3d2d2}
.codehilite .k{font-weight:bold}
.codehilite .o{font-weight:bold}
.codehilite .cm{color:#999988;font-style:italic}
.codehilite .cp{color:#999999;font-weight:bold}
.codehilite .c1{color:#999988;font-style:italic}
.codehilite .cs{color:#999999;font-weight:bold;font-style:italic}
.codehilite .gd{color:#000000;background-color:#ffdddd}
.codehilite .ge{font-style:italic}
.codehilite .gr{color:#aa0000}
.codehilite .gh{color:#999999}
.codehilite .gi{color:#000000;background-color:#ddffdd}
.codehilite .go{color:#888888}
.codehilite .gp{color:#555555}
.codehilite .gs{font-weight:bold}
.codehilite .gu{color:#800080;font-weight:bold}
.codehilite .gt{color:#aa0000}
.codehilite .kc{font-weight:bold}
.codehilite .kd{font-weight:bold}
.codehilite .kn{font-weight:bold}
.codehilite .kp{font-weight:bold}
.codehilite .kr{font-weight:bold}
.codehilite .kt{color:#445588;font-weight:bold}
.codehilite .m{color:#009999}
.codehilite .s{color:#dd1144}
.codehilite .n{color:#333333}
.codehilite .na{color:teal}
.codehilite .nb{color:#0086b3}
.codehilite .nc{color:#445588;font-weight:bold}
.codehilite .no{color:teal}
.codehilite .ni{color:purple}
.codehilite .ne{color:#990000;font-weight:bold}
.codehilite .nf{color:#990000;font-weight:bold}
.codehilite .nn{color:#555555}
.codehilite .nt{color:navy}
.codehilite .nv{color:teal}
.codehilite .ow{font-weight:bold}
.codehilite .w{color:#bbbbbb}
.codehilite .mf{color:#009999}
.codehilite .mh{color:#009999}
.codehilite .mi{color:#009999}
.codehilite .mo{color:#009999}
.codehilite .sb{color:#dd1144}
.codehilite .sc{color:#dd1144}
.codehilite .sd{color:#dd1144}
.codehilite .s2{color:#dd1144}
.codehilite .se{color:#dd1144}
.codehilite .sh{color:#dd1144}
.codehilite .si{color:#dd1144}
.codehilite .sx{color:#dd1144}
.codehilite .sr{color:#009926}
.codehilite .s1{color:#dd1144}
.codehilite .ss{color:#990073}
.codehilite .bp{color:#999999}
.codehilite .vc{color:teal}
.codehilite .vg{color:teal}
.codehilite .vi{color:teal}
.codehilite .il{color:#009999}
.codehilite .gc{color:#999;background-color:#EAF2F5}
</style><title>develop</title></head><body><article class="markdown-body"><h1 id="slam">源码解析 | SLAM 多点导航开发思路介绍<a class="headerlink" href="#slam" title="Permanent link"></a></h1>
<h3 id="_1">开发背景：<a class="headerlink" href="#_1" title="Permanent link"></a></h3>
<p>在使用 ROS Navigation &amp; RViz 进行 2D Nav Goal 导航的时候，我们会遇到这些情况：</p>
<ol>
<li>给定导航的目标点只能设置一个，当有多点任务时需要等待一个个任务结束后，再次手动给目标</li>
<li>无法暂停或取消任务</li>
<li>任务不可循环</li>
</ol>
<h3 id="_2">开发目的：<a class="headerlink" href="#_2" title="Permanent link"></a></h3>
<p>完成多目标点导航，可以对导航环节进行操控，如可循环、取消、重置任务等。</p>
<h3 id="_3">开发思路：<a class="headerlink" href="#_3" title="Permanent link"></a></h3>
<ol>
<li>2D Nav Goal 的单点导航是如何实现的？</li>
</ol>
<p>我们可以知道导航目标是通过 RViz 工具栏中 2D Nav Goal发布出去的。</p>
<p>通过查看 RViz的配置文件或者 Panels-&gt;Add New Panel-&gt; Tool Property ，可以了解当使用2D Nav Goal 在地图上拉了一个箭头（给定目标点时），其实是向话题 /move_base_simple/goal 发布了 <a href="http://docs.ros.org/en/api/geometry_msgs/html/msg/PoseStamped.html">geometry_msgs/PoseStamped</a> 类型的消息，这个是目标点的位姿，包含坐标点与朝向。</p>
<p>根据 NodeGraph 可以看到话题 /move_base_simple/goal 被导航包的节点 /move_base 订阅了，进而发给 Navigation 中的各个话题，完成导航。</p>
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/dev1.png" /></p>
<ol start="2">
<li>如何基于单点实现多点导航？</li>
</ol>
<p>要在单点基础上实现多目标点导航的话，就要设计一个关于多个导航目标点消息geometry_msgs/PoseStamped的数据结构，并对多个目标点进行处理，完成导航。</p>
<p>实现多点的方法有多种，在不打破 ROS Navigation 包的完整性的前提下，我选择在2D Nav Goal的 RViz节点和 /move_base 节点中间添加了一个话题 /move_base_simple/goal_temp，将原本发送给 /move_base_simple/goal 的消息，转发给/move_base_simple/goal_temp，通过此话题来积攒多个 2D Nav Goal（任务队列），并根据任务完成的状态反馈，按顺序将每个导航目标点消息 geometry_msgs/PoseStamped 再发送给话题/move_base_simple/goal，以完成多任务中的单次目标点的导航（如下图示）。</p>
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/dev2.jpg" /></p>
<ol start="3">
<li>如何来发布多点任务？</li>
</ol>
<p>像 2D Nav Goal 一样，我们也可以在 RViz 中开发可视化的操作栏，这要使用到 RViz plugin ， ROS中的可视化工具绝大部分都是基于Qt进行开发的，此前古月居有过详细介绍，可参考<a href="https://zhuanlan.zhihu.com/p/39390512">这篇文章</a>。</p>
<h3 id="_4">最终效果<a class="headerlink" href="#_4" title="Permanent link"></a></h3>
<p>首先，我们来看一下最终的实现效果。</p>
<p>MultiNaviGoalsPanel是多点SLAM导航任务的可视化操作区，包括任务点列表、循环、重置、取消、开始任务。</p>
<p>通过 RViz plugin 设计的Mark Display，能够显示的目标点的标号及箭头（朝向）。</p>
<p><img alt="" src="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/images/dev3.png" /></p>
<h3 id="_5">源代码<a class="headerlink" href="#_5" title="Permanent link"></a></h3>
<p>项目地址：<a href="https://github.com/autolaborcenter/rviz_navi_multi_goals_pub_plugin">https://github.com/autolaborcenter/rviz_navi_multi_goals_pub_plugin</a></p>
<h4 id="_6">代码实现<a class="headerlink" href="#_6" title="Permanent link"></a></h4>
<h4 id="1-multi_navi_goal_panelh">1. 头文件 multi_navi_goal_panel.h<a class="headerlink" href="#1-multi_navi_goal_panelh" title="Permanent link"></a></h4>
<p>Qt说明：</p>
<ul>
<li>文字编辑——QLineEdit</li>
<li>按键——QPushButton</li>
<li>列表——QTableWidget</li>
<li>复选框——QCheckBox</li>
<li>文字显示——QString</li>
</ul>
<p>ROS说明:</p>
<p>Publisher：</p>
<ul>
<li>发送每个目标点消息给/move_base_simple/goal的goal_pub_</li>
<li>发送取消指令消息给/move_base/cancel的cancel_pub_</li>
<li>发送文字和箭头标记的mark_pub_。</li>
</ul>
<p>Subsrciber：</p>
<ul>
<li>订阅来自rviz中2D Nav Goal的导航目标点消息的goal_sub_</li>
<li>订阅目前导航状态的status_sub_</li>
</ul>
<div class="codehilite"><pre>#ifndef MULTI_NAVI_GOAL_PANEL_H
#define MULTI_NAVI_GOAL_PANEL_H


#include &lt;string&gt;

#include &lt;ros/ros.h&gt;
#include &lt;ros/console.h&gt;

#include &lt;rviz/panel.h&gt;//plugin基类的头文件

#include &lt;QPushButton&gt;//Qt按钮
#include &lt;QTableWidget&gt;//Qt表格
#include &lt;QCheckBox&gt;//Qt复选框

#include &lt;visualization_msgs/Marker.h&gt;
#include &lt;geometry_msgs/PoseArray.h&gt;
#include &lt;geometry_msgs/Point.h&gt;
#include &lt;geometry_msgs/PoseStamped.h&gt;
#include &lt;std_msgs/String.h&gt;
#include &lt;actionlib_msgs/GoalStatus.h&gt;
#include &lt;actionlib_msgs/GoalStatusArray.h&gt;
#include &lt;tf/transform_datatypes.h&gt;

namespace navi_multi_goals_pub_rviz_plugin {

    class MultiNaviGoalsPanel : public rviz::Panel {
    Q_OBJECT
    public:
        explicit MultiNaviGoalsPanel(QWidget *parent = 0);

    public Q_SLOTS:
        void setMaxNumGoal(const QString &amp;maxNumGoal);//设置最大可设置的目标点数量
        void writePose(geometry_msgs::Pose pose);//将目标点位姿写入任务列表
        void markPose(const geometry_msgs::PoseStamped::ConstPtr &amp;pose);//在地图中标记目标位姿
        void deleteMark();//删除标记
    protected Q_SLOTS:

        void updateMaxNumGoal();             // 更新最大可设置的目标点数量
        void initPoseTable();               // 初始化目标点表格

        void updatePoseTable();             // 更新目标点表格
        void startNavi();                   // 开始第一个目标点任务导航
        void cancelNavi();                  // 取消现在进行中的导航

        void goalCntCB(const geometry_msgs::PoseStamped::ConstPtr &amp;pose);  // 目标数量子回调函数

        void statusCB(const actionlib_msgs::GoalStatusArray::ConstPtr &amp;statuses); // 状态子回调函数

        void checkCycle();//确认循环

        void completeNavi();               // 第一个任务到达后，继续进行剩下任务点的导航任务
        void cycleNavi();

        bool checkGoal(std::vector&lt;actionlib_msgs::GoalStatus&gt; status_list);  // 检查是否到达目标点

        static void startSpin(); // 启用ROS订阅
    protected:
        QLineEdit *output_maxNumGoal_editor_;
        QPushButton *output_maxNumGoal_button_, *output_reset_button_, *output_startNavi_button_, *output_cancel_button_;
        QTableWidget *poseArray_table_;
        QCheckBox *cycle_checkbox_;

        QString output_maxNumGoal_;

        // The ROS node handle.
        ros::NodeHandle nh_;
        ros::Publisher goal_pub_, cancel_pub_, marker_pub_;
        ros::Subscriber goal_sub_, status_sub_;
        // 多目标点任务栏定义
        int maxNumGoal_;
        int curGoalIdx_ = 0, cycleCnt_ = 0;
        bool permit_ = false, cycle_ = false, arrived_ = false;
        geometry_msgs::PoseArray pose_array_;

        actionlib_msgs::GoalID cur_goalid_;
    };

} // end namespace navi-multi-goals-pub-rviz-plugin

#endif // MULTI_NAVI_GOAL_PANEL_H
</pre></div>

<h4 id="2-cpp-multi_navi_goal_panelcpp">2. cpp文件 multi_navi_goal_panel.cpp<a class="headerlink" href="#2-cpp-multi_navi_goal_panelcpp" title="Permanent link"></a></h4>
<div class="codehilite"><pre>#include &lt;cstdio&gt;

#include &lt;ros/console.h&gt;

#include &lt;fstream&gt;
#include &lt;sstream&gt;

#include &lt;QPainter&gt;
#include &lt;QLineEdit&gt;
#include &lt;QVBoxLayout&gt;
#include &lt;QLabel&gt;
#include &lt;QTimer&gt;
#include &lt;QDebug&gt;
#include &lt;QtWidgets/QTableWidget&gt;
#include &lt;QtWidgets/qheaderview.h&gt;


#include &quot;multi_navi_goal_panel.h&quot;

namespace navi_multi_goals_pub_rviz_plugin {


    MultiNaviGoalsPanel::MultiNaviGoalsPanel(QWidget *parent)
            : rviz::Panel(parent), nh_(), maxNumGoal_(1) {

        goal_sub_ = nh_.subscribe&lt;geometry_msgs::PoseStamped&gt;(&quot;move_base_simple/goal_temp&quot;, 1,
                                                              boost::bind(&amp;MultiNaviGoalsPanel::goalCntCB, this, _1));

        status_sub_ = nh_.subscribe&lt;actionlib_msgs::GoalStatusArray&gt;(&quot;move_base/status&quot;, 1,
                                                                     boost::bind(&amp;MultiNaviGoalsPanel::statusCB, this,
                                                                                 _1));

        goal_pub_ = nh_.advertise&lt;geometry_msgs::PoseStamped&gt;(&quot;move_base_simple/goal&quot;, 1);

        cancel_pub_ = nh_.advertise&lt;actionlib_msgs::GoalID&gt;(&quot;move_base/cancel&quot;, 1);

        marker_pub_ = nh_.advertise&lt;visualization_msgs::Marker&gt;(&quot;visualization_marker&quot;, 1);

        QVBoxLayout *root_layout = new QVBoxLayout;
        // create a panel about &quot;maxNumGoal&quot;
        QHBoxLayout *maxNumGoal_layout = new QHBoxLayout;
        maxNumGoal_layout-&gt;addWidget(new QLabel(&quot;目标最大数量&quot;));
        output_maxNumGoal_editor_ = new QLineEdit;
        maxNumGoal_layout-&gt;addWidget(output_maxNumGoal_editor_);
        output_maxNumGoal_button_ = new QPushButton(&quot;确定&quot;);
        maxNumGoal_layout-&gt;addWidget(output_maxNumGoal_button_);
        root_layout-&gt;addLayout(maxNumGoal_layout);

        cycle_checkbox_ = new QCheckBox(&quot;循环&quot;);
        root_layout-&gt;addWidget(cycle_checkbox_);
        // creat a QTable to contain the poseArray
        poseArray_table_ = new QTableWidget;
        initPoseTable();
        root_layout-&gt;addWidget(poseArray_table_);
        //creat a manipulate layout
        QHBoxLayout *manipulate_layout = new QHBoxLayout;
        output_reset_button_ = new QPushButton(&quot;重置&quot;);
        manipulate_layout-&gt;addWidget(output_reset_button_);
        output_cancel_button_ = new QPushButton(&quot;取消&quot;);
        manipulate_layout-&gt;addWidget(output_cancel_button_);
        output_startNavi_button_ = new QPushButton(&quot;开始导航!&quot;);
        manipulate_layout-&gt;addWidget(output_startNavi_button_);
        root_layout-&gt;addLayout(manipulate_layout);

        setLayout(root_layout);
        // set a Qtimer to start a spin for subscriptions
        QTimer *output_timer = new QTimer(this);
        output_timer-&gt;start(200);

        // 设置信号与槽的连接
        connect(output_maxNumGoal_button_, SIGNAL(clicked()), this,
                SLOT(updateMaxNumGoal()));
        connect(output_maxNumGoal_button_, SIGNAL(clicked()), this,
                SLOT(updatePoseTable()));
        connect(output_reset_button_, SIGNAL(clicked()), this, SLOT(initPoseTable()));
        connect(output_cancel_button_, SIGNAL(clicked()), this, SLOT(cancelNavi()));
        connect(output_startNavi_button_, SIGNAL(clicked()), this, SLOT(startNavi()));
        connect(cycle_checkbox_, SIGNAL(clicked(bool)), this, SLOT(checkCycle()));
        connect(output_timer, SIGNAL(timeout()), this, SLOT(startSpin()));


    }

// 更新maxNumGoal命名
    void MultiNaviGoalsPanel::updateMaxNumGoal() {
        setMaxNumGoal(output_maxNumGoal_editor_-&gt;text());
    }

// set up the maximum number of goals
    void MultiNaviGoalsPanel::setMaxNumGoal(const QString &amp;new_maxNumGoal) {
        // 检查maxNumGoal是否发生改变.
        if (new_maxNumGoal != output_maxNumGoal_) {
            output_maxNumGoal_ = new_maxNumGoal;

            // 如果命名为空，不发布任何信息
            if (output_maxNumGoal_ == &quot;&quot;) {
                nh_.setParam(&quot;maxNumGoal_&quot;, 1);
                maxNumGoal_ = 1;
            } else {
//                velocity_publisher_ = nh_.advertise&lt;geometry_msgs::Twist&gt;(output_maxNumGoal_.toStdString(), 1);
                nh_.setParam(&quot;maxNumGoal_&quot;, output_maxNumGoal_.toInt());
                maxNumGoal_ = output_maxNumGoal_.toInt();
            }
            Q_EMIT configChanged();
        }
    }

    // initialize the table of pose
    void MultiNaviGoalsPanel::initPoseTable() {
        ROS_INFO(&quot;Initialize&quot;);
        curGoalIdx_ = 0, cycleCnt_ = 0;
        permit_ = false, cycle_ = false;
        poseArray_table_-&gt;clear();
        pose_array_.poses.clear();
        deleteMark();
        poseArray_table_-&gt;setRowCount(maxNumGoal_);
        poseArray_table_-&gt;setColumnCount(3);
        poseArray_table_-&gt;setEditTriggers(QAbstractItemView::NoEditTriggers);
        poseArray_table_-&gt;horizontalHeader()-&gt;setSectionResizeMode(QHeaderView::Stretch);
        QStringList pose_header;
        pose_header &lt;&lt; &quot;x&quot; &lt;&lt; &quot;y&quot; &lt;&lt; &quot;yaw&quot;;
        poseArray_table_-&gt;setHorizontalHeaderLabels(pose_header);
        cycle_checkbox_-&gt;setCheckState(Qt::Unchecked);

    }

    // delete marks in the map
    void MultiNaviGoalsPanel::deleteMark() {
        visualization_msgs::Marker marker_delete;
        marker_delete.action = visualization_msgs::Marker::DELETEALL;
        marker_pub_.publish(marker_delete);
    }

    //update the table of pose
    void MultiNaviGoalsPanel::updatePoseTable() {
        poseArray_table_-&gt;setRowCount(maxNumGoal_);
//        pose_array_.poses.resize(maxNumGoal_);
        QStringList pose_header;
        pose_header &lt;&lt; &quot;x&quot; &lt;&lt; &quot;y&quot; &lt;&lt; &quot;yaw&quot;;
        poseArray_table_-&gt;setHorizontalHeaderLabels(pose_header);
        poseArray_table_-&gt;show();
    }

    // call back function for counting goals
    void MultiNaviGoalsPanel::goalCntCB(const geometry_msgs::PoseStamped::ConstPtr &amp;pose) {
        if (pose_array_.poses.size() &lt; maxNumGoal_) {
            pose_array_.poses.push_back(pose-&gt;pose);
            pose_array_.header.frame_id = pose-&gt;header.frame_id;
            writePose(pose-&gt;pose);
            markPose(pose);
        } else {
            ROS_ERROR(&quot;Beyond the maximum number of goals: %d&quot;, maxNumGoal_);
        }
    }

    // write the poses into the table
    void MultiNaviGoalsPanel::writePose(geometry_msgs::Pose pose) {

        poseArray_table_-&gt;setItem(pose_array_.poses.size() - 1, 0,
                                  new QTableWidgetItem(QString::number(pose.position.x, &#39;f&#39;, 2)));
        poseArray_table_-&gt;setItem(pose_array_.poses.size() - 1, 1,
                                  new QTableWidgetItem(QString::number(pose.position.y, &#39;f&#39;, 2)));
        poseArray_table_-&gt;setItem(pose_array_.poses.size() - 1, 2,
                                  new QTableWidgetItem(
                                          QString::number(tf::getYaw(pose.orientation) * 180.0 / 3.14, &#39;f&#39;, 2)));

    }

    // when setting a Navi Goal, it will set a mark on the map
    void MultiNaviGoalsPanel::markPose(const geometry_msgs::PoseStamped::ConstPtr &amp;pose) {
        if (ros::ok()) {
            visualization_msgs::Marker arrow;
            visualization_msgs::Marker number;
            arrow.header.frame_id = number.header.frame_id = pose-&gt;header.frame_id;
            arrow.ns = &quot;navi_point_arrow&quot;;
            number.ns = &quot;navi_point_number&quot;;
            arrow.action = number.action = visualization_msgs::Marker::ADD;
            arrow.type = visualization_msgs::Marker::ARROW;
            number.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
            arrow.pose = number.pose = pose-&gt;pose;
            number.pose.position.z += 1.0;
            arrow.scale.x = 1.0;
            arrow.scale.y = 0.2;
            number.scale.z = 1.0;
            arrow.color.r = number.color.r = 1.0f;
            arrow.color.g = number.color.g = 0.98f;
            arrow.color.b = number.color.b = 0.80f;
            arrow.color.a = number.color.a = 1.0;
            arrow.id = number.id = pose_array_.poses.size();
            number.text = std::to_string(pose_array_.poses.size());
            marker_pub_.publish(arrow);
            marker_pub_.publish(number);
        }
    }

    // check whether it is in the cycling situation
    void MultiNaviGoalsPanel::checkCycle() {
        cycle_ = cycle_checkbox_-&gt;isChecked();
    }

    // start to navigate, and only command the first goal
    void MultiNaviGoalsPanel::startNavi() {
        curGoalIdx_ = curGoalIdx_ % pose_array_.poses.size();
        if (!pose_array_.poses.empty() &amp;&amp; curGoalIdx_ &lt; maxNumGoal_) {
            geometry_msgs::PoseStamped goal;
            goal.header = pose_array_.header;
            goal.pose = pose_array_.poses.at(curGoalIdx_);
            goal_pub_.publish(goal);
            ROS_INFO(&quot;Navi to the Goal%d&quot;, curGoalIdx_ + 1);
            poseArray_table_-&gt;item(curGoalIdx_, 0)-&gt;setBackgroundColor(QColor(255, 69, 0));
            poseArray_table_-&gt;item(curGoalIdx_, 1)-&gt;setBackgroundColor(QColor(255, 69, 0));
            poseArray_table_-&gt;item(curGoalIdx_, 2)-&gt;setBackgroundColor(QColor(255, 69, 0));
            curGoalIdx_ += 1;
            permit_ = true;
        } else {
            ROS_ERROR(&quot;Something Wrong&quot;);
        }
    }

    // complete the remaining goals
    void MultiNaviGoalsPanel::completeNavi() {
        if (curGoalIdx_ &lt; pose_array_.poses.size()) {
            geometry_msgs::PoseStamped goal;
            goal.header = pose_array_.header;
            goal.pose = pose_array_.poses.at(curGoalIdx_);
            goal_pub_.publish(goal);
            ROS_INFO(&quot;Navi to the Goal%d&quot;, curGoalIdx_ + 1);
            poseArray_table_-&gt;item(curGoalIdx_, 0)-&gt;setBackgroundColor(QColor(255, 69, 0));
            poseArray_table_-&gt;item(curGoalIdx_, 1)-&gt;setBackgroundColor(QColor(255, 69, 0));
            poseArray_table_-&gt;item(curGoalIdx_, 2)-&gt;setBackgroundColor(QColor(255, 69, 0));
            curGoalIdx_ += 1;
            permit_ = true;
        } else {
            ROS_ERROR(&quot;All goals are completed&quot;);
            permit_ = false;
        }
    }

    // command the goals cyclically
    void MultiNaviGoalsPanel::cycleNavi() {
        if (permit_) {
            geometry_msgs::PoseStamped goal;
            goal.header = pose_array_.header;
            goal.pose = pose_array_.poses.at(curGoalIdx_ % pose_array_.poses.size());
            goal_pub_.publish(goal);
            ROS_INFO(&quot;Navi to the Goal%lu, in the %dth cycle&quot;, curGoalIdx_ % pose_array_.poses.size() + 1,
                     cycleCnt_ + 1);
            bool even = ((cycleCnt_ + 1) % 2 != 0);
            QColor color_table;
            if (even) color_table = QColor(255, 69, 0); else color_table = QColor(100, 149, 237);
            poseArray_table_-&gt;item(curGoalIdx_ % pose_array_.poses.size(), 0)-&gt;setBackgroundColor(color_table);
            poseArray_table_-&gt;item(curGoalIdx_ % pose_array_.poses.size(), 1)-&gt;setBackgroundColor(color_table);
            poseArray_table_-&gt;item(curGoalIdx_ % pose_array_.poses.size(), 2)-&gt;setBackgroundColor(color_table);
            curGoalIdx_ += 1;
            cycleCnt_ = curGoalIdx_ / pose_array_.poses.size();
        }
    }

    // cancel the current command
    void MultiNaviGoalsPanel::cancelNavi() {
        if (!cur_goalid_.id.empty()) {
            cancel_pub_.publish(cur_goalid_);
            ROS_ERROR(&quot;Navigation have been canceled&quot;);
        }
    }

    // call back for listening current state
    void MultiNaviGoalsPanel::statusCB(const actionlib_msgs::GoalStatusArray::ConstPtr &amp;statuses) {
        bool arrived_pre = arrived_;
        arrived_ = checkGoal(statuses-&gt;status_list);
        if (arrived_) { ROS_ERROR(&quot;%d,%d&quot;, int(arrived_), int(arrived_pre)); }
        if (arrived_ &amp;&amp; arrived_ != arrived_pre &amp;&amp; ros::ok() &amp;&amp; permit_) {
            if (cycle_) cycleNavi();
            else completeNavi();
        }
    }

    //check the current state of goal
    bool MultiNaviGoalsPanel::checkGoal(std::vector&lt;actionlib_msgs::GoalStatus&gt; status_list) {
        bool done;
        if (!status_list.empty()) {
            for (auto &amp;i : status_list) {
                if (i.status == 3) {
                    done = true;
                    ROS_INFO(&quot;completed Goal%d&quot;, curGoalIdx_);
                } else if (i.status == 4) {
                    ROS_ERROR(&quot;Goal%d is Invalid, Navi to Next Goal%d&quot;, curGoalIdx_, curGoalIdx_ + 1);
                    return true;
                } else if (i.status == 0) {
                    done = true;
                } else if (i.status == 1) {
                    cur_goalid_ = i.goal_id;
                    done = false;
                } else done = false;
            }
        } else {
            ROS_INFO(&quot;Please input the Navi Goal&quot;);
            done = false;
        }
        return done;
    }

// spin for subscribing
    void MultiNaviGoalsPanel::startSpin() {
        if (ros::ok()) {
            ros::spinOnce();
        }
    }

} // end namespace navi-multi-goals-pub-rviz-plugin

// 声明此类是一个rviz的插件

#include &lt;pluginlib/class_list_macros.h&gt;

PLUGINLIB_EXPORT_CLASS(navi_multi_goals_pub_rviz_plugin::MultiNaviGoalsPanel, rviz::Panel)
</pre></div>

<h3 id="_7">使用<a class="headerlink" href="#_7" title="Permanent link"></a></h3>
<p>使用请参考<a href="/D:/%E5%B7%A5%E4%BD%9C%E9%A1%B9%E7%9B%AE/2020%E5%B9%B4/%E5%8D%8E%E6%B8%85/%E9%A1%B9%E7%9B%AE/%E4%BA%A7%E5%93%81/AP1/%E6%96%87%E6%A1%A3/rviz_navi_multi_goals_pub_plugin/README.md">使用说明</a>。</p></article></body></html>